Unmanned aerial vehicle-based ground-air integrated carbon emission monitoring method and device

Abstract

The application discloses a kind of ground-air integration carbon emission monitoring method and device based on unmanned aerial vehicle, the device is used to realize the method, the method: in the delimited region to be measured, air carbon content monitoring module is completed air carbon content monitoring;Air carbon content monitoring module includes first aircraft and first carbon emission detection sensor assembly, carbon content of first carbon emission detection sensor assembly in the process of monitoring the carbon content of the region passed by, the monitoring result of air carbon content monitoring module is judged to carbon content anomaly, and abnormal information is sent to ground carbon content monitoring module, ground carbon content monitoring module is guided according to abnormal information, carries second carbon emission detection sensor assembly, and obtains carbon emission tracking data to the carbon emission source of abnormal result generated by tracking.The scheme has the characteristics of high carbon emission source tracking efficiency, high monitoring data acquisition accuracy and high regional monitoring efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of carbon emission monitoring, in particular to a ground-air integrated carbon emission monitoring method and device based on a UAV. BACKGROUND

[0002] With the continuous development of industrialization, carbon emission has become an important problem of global concern. Carbon emission generally refers to the emission of greenhouse gases dominated by carbon dioxide (the most important gas is generally considered to be carbon dioxide, and other gases include water vapor, ozone, methane, etc.), which is a general term for greenhouse gas emissions. The consequence of carbon emission is to cause greenhouse effect, which leads to global warming.

[0003] Carbon emission and air pollution are generally considered to be different concepts, but in monitoring, the carbon content in the air is also an important monitoring index of air pollution. The traditional carbon content monitoring method mainly uses fixed carbon monitoring instruments to monitor pollution by arranging them at fixed positions. In order to obtain reliable data, the fixed monitoring technology has high requirements for the placement position and accuracy of the detection instrument. At the same time, the fixed monitoring technology also has the problems of limited monitoring range, high monitoring cost, and inability to accurately identify the carbon emission source.

[0004] In carbon emission monitoring, in addition to using fixed installed sensors, sensors placed on mobile objects can also be used. These sensors move in space with the mobile objects, thereby achieving the purpose of expanding the monitoring area and accurately positioning the emission source. Regarding mobile monitoring of carbon emission, the following schemes exist in this field: a super city modern monitoring theme research is dedicated to using vehicles as carriers to achieve mobile monitoring or data collection. At the same time, mobile monitoring is a low-cost and promising method that can obtain relatively high-resolution air condition data at a lower cost and in a larger range. In other mobile monitoring schemes, unmanned aerial vehicle monitoring is receiving more and more attention: it not only can achieve more accurate air condition data collection, but also can more conveniently realize the positioning and tracking of carbon emission sources.

[0005] Among the existing disclosed specific solutions, in the technical solution provided by the application number CN202210556473.4, the invention name is a carbon emission online monitoring platform and analysis method, a carbon emission monitoring subunit is disclosed, which includes a plurality of monitoring unmanned aerial vehicles and an unmanned aerial vehicle console, a plurality of unmanned aerial vehicle monitoring point combinations are set according to three-dimensional model data, and the most reasonable unmanned aerial vehicle monitoring point combination for the building is obtained according to carbon dioxide emission data analysis; in the technical solution provided by the application number CN202210811684.8, the invention name is a multi-channel carbon emission comprehensive monitoring method, a carbon dioxide emission detector based on a carbon satellite, a ground-based carbon dioxide observation station and a preset fixed point is disclosed, and these data are monitored and judged, and according to the judgment result, an electric unmanned aerial vehicle device is selected to realize the data acquisition mode of total atmospheric carbon dioxide emission; in the technical solution provided by the application number CN202210925190.2, the invention name is an inversion strong point source carbon emission intensity calculation method and system based on unmanned aerial vehicle sampling, a carbon emission sampling is carried out by using an unmanned aerial vehicle, and a carbon emission diffusion model is established according to the sampling data, and a corresponding algorithm is used to obtain the carbon emission intensity by using the diffusion model and verify the carbon emission intensity.

[0006] In summary, the use of unmanned aerial vehicles to realize carbon emission monitoring has been applied to various technical solutions, and such data collection means has incomparable advantages over other means, so optimizing the use of unmanned aerial vehicles in carbon emission monitoring has positive significance. SUMMARY

[0007] In view of the above technical problems that optimizing the use of unmanned aerial vehicles in carbon emission monitoring has positive significance, the present application provides a ground-air integrated carbon emission monitoring method and device based on unmanned aerial vehicles, which has the characteristics of high carbon emission source tracking efficiency, high monitoring data collection accuracy and high regional monitoring efficiency.

[0008] The purpose of the present application is mainly realized by the following technical solutions:

[0009] The ground-air integrated carbon emission monitoring method based on unmanned aerial vehicles is as follows: in the designated to-be-measured area, the air carbon content monitoring module is used to complete air carbon content monitoring.

[0010] The air carbon content monitoring module includes a first aircraft and a first carbon emission detection sensor assembly. The first aircraft carries the first carbon emission detection sensor assembly to fly along a preset route or a route generated under a preset condition. The first carbon emission detection sensor assembly monitors the carbon content of a passing area during flight. The monitoring result of the air carbon content monitoring module is subjected to carbon content anomaly judgment. After judging that the monitoring result data is abnormal, abnormal information is sent to the ground carbon content monitoring module. The ground carbon content monitoring module is guided according to the abnormal information, carries a second carbon emission detection sensor assembly to track the carbon emission source that generates the abnormal result, and obtains carbon emission tracking data.

[0011] The ground carbon content monitoring module includes a ground vehicle and / or a second aircraft. The ground vehicle and the second aircraft are used to carry the second carbon emission detection sensor assembly to move. The carbon content data collection height of the first carbon emission detection sensor assembly is higher than that of the second carbon emission detection sensor assembly.

[0012] In the scheme, the device for implementing the monitoring method includes an air carbon content monitoring module and a ground carbon content monitoring module. The air carbon content monitoring module includes a first carbon emission detection sensor assembly carried by a first aircraft. The first aircraft flies along a preset route or a route generated under a preset condition to monitor the carbon content of a passing area. When the monitoring result is determined to be abnormal, abnormal information is sent to the ground carbon content monitoring module. The ground carbon content monitoring module is guided according to the abnormal information, carries a second carbon emission detection sensor assembly to track the carbon emission source that generates the abnormal result, and obtains carbon emission tracking data. It can be understood that the carbon emission source is the carbon emission source that causes the abnormal monitoring result. Further, the carbon content data collection height of the first carbon emission detection sensor assembly is higher than that of the second carbon emission detection sensor assembly. That is, the air carbon content monitoring module is used to monitor air carbon content data, and the ground carbon content monitoring module is used to perform ground carbon content monitoring when necessary to achieve the purpose of carbon emission tracking. It is easy to understand that air and ground are relative. Those skilled in the art can reasonably configure the flight height of the first aircraft and the flight height of the second aircraft according to the meteorological conditions of the specific application occasion.

[0013] Unlike the prior art, in the scheme, the first aircraft can maintain a high cruising speed to quickly complete overall monitoring of the to-be-measured area and quickly change the monitoring position, which can effectively guarantee the carbon emission monitoring strength and the regional monitoring efficiency. After obtaining the abnormal carbon emission monitoring structure, the ground carbon content monitoring module responds to track the carbon emission source and obtain the specific carbon emission situation, thereby guaranteeing the carbon emission source tracking efficiency and improving the monitoring data collection accuracy.

[0014] In a specific application, considering the influence of the ground monitoring terrain and the carbon emission position on the data collection of the second carbon emission detection sensor assembly, in a specific application, the to-be-measured area is divided into a plurality of subintervals, each subinterval is configured with a ground carbon content monitoring module located in the subinterval, when it is determined by the monitoring data of the aerial carbon content monitoring module that there is a carbon emission source to be tracked in a certain subinterval, the ground carbon content monitoring module in the subinterval works to complete the tracking of the carbon emission source. When it is determined by the monitoring data of the aerial carbon content monitoring module and the carbon emission diffusion model that there are a plurality of carbon emission sources to be tracked in a certain subinterval, the ground carbon content monitoring modules of other subintervals are dispatched to assist in completing the tracking of the carbon emission source for the subinterval, and the other subintervals are preferably subintervals that are confirmed by the monitoring data of the aerial carbon content monitoring module to have no carbon emission source to be tracked. Further, in order to ensure the accuracy of the monitoring data and at the same time ensure the required monitoring efficiency and data collection accuracy, the ground carbon content monitoring module includes a ground vehicle and a second aircraft, the ground vehicle is used to carry personnel and the second aircraft, when the ground vehicle reaches the carbon emission source tracking position, the personnel operate the second aircraft to complete the targeted carbon emission source tracking according to the on-site situation, and in the case of needing to take processing measures, the on-site carbon emission situation is processed in the first time; the first aircraft and the second aircraft are both electric unmanned aerial vehicles, and the first aircraft is a fixed-wing unmanned aerial vehicle with high cruising speed, and the second aircraft is a multi-rotor unmanned aerial vehicle with flexible action and can hover in the air.

[0015] As a further technical solution of the unmanned aerial vehicle-based ground-air integrated carbon emission monitoring method:

[0016] The preset route is a flight route loaded in the flight controller of the first aircraft before the first aircraft flies;

[0017] The preset route is: after the first aircraft takes off, the flight route planned according to the dynamically adjusted monitoring area distribution. In the scheme, the preset route can be a flight route fixed in the flight controller of the first aircraft by manually setting according to the characteristics of the region by the personnel implementing carbon emission monitoring, or a flight route fixed in the flight controller of the first aircraft after summarizing historical monitoring results. In specific implementation, when the flight route is fixed in the flight controller, a more preferred way is to load multiple flight routes in the flight controller: for example, after the carbon emission law of the to-be-measured region is mastered, in order to ensure monitoring efficiency, the basis for determining the specific flight route is the time of the current inspection, which is used to realize the key monitoring of a specific region in a specific time period; other basis for determining the specific flight route can also be set by those skilled in the art, such as planning multiple flight routes covering the to-be-measured region and different from each other, and obtaining the specific flight route by selection during the monitoring task execution, so as to avoid human evasion of carbon emission monitoring. The preset route is used to guide the first aircraft to complete the whole flight according to the flight route in the flight controller. During the flight of the first aircraft, when tasks such as data acquisition at the position with the maximum carbon content, air flow boundary acquisition to form corresponding carbon content monitoring data are performed, route adjustment is required, but after the completion of these tasks, the first aircraft returns to the set flight route to continue the flight task, which should also be understood as flying according to the preset route. The route generated under the preset condition is a dynamically adjusted route after the first aircraft takes off, such as that the initial flight route is changed to a live flight route after the first aircraft takes off according to the initial flight route, and the live flight route is further updated during the flight according to the imaging result. In this case, the first aircraft is equipped with a shooting device, which includes a natural light shooting device and an infrared shooting device. Further, the initial flight route is planned to include a take-off flight route and multiple coordinate points. When the imaging cannot plan or update the live flight route on the take-off flight route and the live flight route, the first aircraft uses the coordinate points as the basis for route planning to plan or update the live flight route during the flight to the coordinate points.

[0018] The first aircraft equipped with the first carbon emission detection sensor assembly flies along the preset route and adjusts the flight route during the flight;

[0019] The method for adjusting the route is: after the first carbon emission detection sensor assembly detects abnormal carbon content data, predicting the carbon content abnormal space range according to the carbon emission diffusion model, and correcting the flight route based on the carbon content abnormal space range and the planned next monitoring position.

[0020] The flight path is modified as follows: during movement to the next planned monitoring position, the movement path of the first carbon emission detection sensor assembly passes through the carbon content anomaly space range, and carbon content data in the carbon content anomaly space range is collected during movement. The above provides a scheme of flying according to a preset route and adjusting the specific route during flight. As a person skilled in the art, it should be understood that the flight route is adjusted only when necessary, and the first aircraft returns to the preset route after the specific needs are processed. The present scheme aims to solve the following problem: after the carbon content anomaly space range is predicted by obtaining the carbon emission diffusion model, the first aircraft passes through the carbon content anomaly space range to efficiently obtain more carbon content monitoring data, which can not only be used for mutual verification between data, but also be used for constructing a more accurate carbon emission hotspot map and for more accurate calculation of carbon emission. In specific implementation, considering the endurance of the air carbon content monitoring module, the carbon emission diffusion model construction and the carbon content anomaly space range prediction are completed by the remote control center on the ground. The air carbon content monitoring module and the remote control center communicate bidirectionally. The carbon emission diffusion model sends gas phase data, carbon content monitoring data and coordinate data to the remote control center. The remote control center completes the carbon emission diffusion model construction and the carbon content anomaly space range prediction by using these data, and then sends the coordinate data of the carbon content anomaly space range to the air carbon content monitoring module. When the first aircraft is a fixed-wing unmanned aerial vehicle, after monitoring the abnormal carbon content data, the aircraft flies around the current position according to the set circular flight path to wait for the data processing result of the remote control center.

[0021] After the air carbon content monitoring module completes the first cruise monitoring of the to-be-measured region, the positions of the monitoring points during movement of the first carbon emission detection sensor assembly and the carbon content data obtained by the monitoring points are associated with the map data to form carbon emission hotspot map data.

[0022] According to the obtained carbon emission hotspot map data, a carbon emission hotspot region is obtained on the map.

[0023] According to the position of the carbon emission hotspot region on the map, carbon emission tracking data is obtained.

[0024] According to the carbon emission tracking data, a carbon emission tracking route is obtained, and the air carbon content monitoring module tracks the carbon emission data of the delineated to-be-measured region according to the carbon emission tracking route. The scheme aims to provide a method for obtaining intuitive hotspot map data by using historical monitoring data and applying the monitoring data to map data, obtaining carbon emission hotspot regions according to carbon contents of positions on the hotspot map data and combining current weather data, planning a carbon emission tracking route according to the position distribution of the carbon emission hotspot regions, and tracking the carbon emission data of the delineated to-be-measured region on the carbon emission tracking route when the air carbon content monitoring module performs a flight task again. The carbon emission tracking data is the position of the carbon emission hotspot region in space. In this way, an efficient flight route of the air carbon content monitoring module can be planned, the length of useless routes is reduced, and the carbon emission monitoring efficiency of the to-be-measured region is improved. In specific application, a plurality of carbon emission tracking routes are planned according to a monitoring time range, each carbon emission tracking route is obtained by using monitoring historical data obtained in the same monitoring time range in advance, a matching carbon emission tracking route is selected according to the current time when the air carbon content monitoring module performs a current flight task, and thus a first aircraft flight route that is targeted according to the specific carbon emission law of a monitoring region can be obtained. In addition, the first cruising monitoring can be a fine investigation of the to-be-measured region, and the to-be-measured region is tracked according to the investigation result, the carbon emission tracking route is adjusted and optimized according to the continuously updated and enriched historical collection data in subsequent monitoring tasks.

[0025] A method for obtaining the carbon emission tracking route is as follows:

[0026] First, the spatial range distribution of each carbon emission hotspot region on a map is obtained.

[0027] Then, the position with the highest carbon content in each spatial range is obtained.

[0028] Then, the carbon emission tracking route is planned according to the position with the highest carbon content. The scheme aims to provide a method for planning a carbon emission tracking route by using the position with the highest carbon content, which is generally close to a carbon emission source or is a position jointly formed by different carbon emission air flows. When the position information of a carbon content abnormal data acquisition point is included in abnormal information, the success rate and efficiency of tracking a carbon emission source are improved, and the timeliness of on-site disposal is improved.

[0029] A method for performing carbon content abnormality judgment on the monitoring result of the air carbon content monitoring module is as follows:

[0030] S1, obtaining carbon content monitoring data of a current position by using a first carbon emission detection sensor assembly.

[0031] S2, compare the carbon content monitoring data with the set carbon content data of the current location, when the comparison result is that the carbon content monitoring data is greater than or equal to the set carbon content data, execute S3 and S4;

[0032] S3, the first aircraft finds the boundary of the airflow forming the carbon content monitoring data according to the image index or the carbon content index, and the boundary is used to calculate the flow of the airflow;

[0033] S4, calculate the carbon emission in the airflow according to the carbon content detection data and the area range determined by the boundary;

[0034] When the carbon emission exceeds the set threshold, it is determined that the carbon emission is abnormal, and the carbon content monitoring data result is determined as a carbon content abnormal result;

[0035] When the carbon emission is less than or equal to the set threshold, it is determined that the carbon emission is normal, and the carbon content monitoring data result is determined as a carbon content normal result. The present scheme aims to solve the following problems: in the process of carbon emission, under the characteristics of gas phase, the carbon emission airflow will be distributed on a path that is stable at first and then spread along the path. When the carbon content data of the current location detected by the first carbon emission detection sensor assembly is higher than the normal carbon content at the height of the location, it is determined that the location is in the carbon emission airflow. According to the image characteristics of the carbon emission airflow or the carbon content index of different positions in space, the boundary of the airflow forming the carbon content monitoring data can be obtained according to the set conditions. According to the size of the range determined by the boundary and the monitoring value, the carbon emission of the airflow is obtained. According to the carbon emission, it can be accurately determined whether it is normal carbon emission. In specific implementation, in order to facilitate obtaining the carbon emission through the boundary, when the comparison result is that the carbon content monitoring data is greater than or equal to the set carbon content data, the position coordinates of the monitoring data are acquired, the wind direction of the position coordinates is determined according to the meteorological characteristics, and the airflow boundary in each direction is obtained on the plane including the coordinate position and perpendicular to the wind direction.

[0036] The method for the ground carbon content monitoring module to obtain the carbon emission tracking data is as follows:

[0037] The position for carbon emission tracking is obtained through the abnormal information;

[0038] The ground carbon content monitoring module includes a ground vehicle and a second aircraft. According to the map data, it is judged whether the position is in the area that the ground vehicle can reach. If yes, the ground vehicle carries the second aircraft to the area where the position is located, and the second aircraft carries the second carbon emission detection sensor assembly to complete the carbon emission tracking data acquisition. If not, the ground vehicle carries the second aircraft to the area close to the position, and the second aircraft carries the second carbon emission detection sensor assembly to complete the carbon emission tracking data acquisition.

[0039] The area close to the position is that, after the ground vehicle is parked, the position for tracking carbon emission is within the cruising range of the second aircraft;

[0040] The on-site image of the position is collected by the personnel accompanying the ground vehicle, and on-site processing is performed according to the decision. In the specific implementation of the scheme, the map data is used to navigate the ground vehicle to drive to the area where the position is located or the position closest to the area where the position is located, and then the second aircraft accompanying the ground vehicle is released to complete the tracking of the carbon emission source, and the decision information is obtained according to the carbon emission tracking data, and the personnel accompanying the ground vehicle perform carbon emission disposal according to the decision information.

[0041] The number of the air carbon content monitoring modules is one, and the number of the ground carbon content monitoring modules is multiple;

[0042] After it is judged that the monitoring result data is abnormal, different ground carbon content monitoring modules perform carbon emission tracking data acquisition tasks at different positions. The scheme has the characteristics of strong maneuverability and high monitoring efficiency of the air carbon content monitoring module, and multiple ground carbon content monitoring modules are used to cooperate with the air carbon content monitoring module to further guarantee the efficiency of the carbon emission source tracking.

[0043] The preset route or the route generated under the preset condition is obtained by the data processing center: the air carbon content monitoring module obtains the preset route or the route generated under the preset condition from the data processing center through wireless communication;

[0044] The carbon content abnormality judgment on the monitoring result of the air carbon content monitoring module is realized by the data processing center: after the first carbon emission detection sensor assembly obtains the carbon content of the passing area, the monitoring result is sent to the data processing center through wireless communication, the data processing center processes the monitoring result and completes the carbon content abnormality judgment;

[0045] The ground carbon content monitoring module obtains the abnormal information from the data processing center. The scheme is a technical scheme in which the processing process with high data processing requirement is arranged in the data processing center, and the data processing is completed by wireless communication between the air carbon content monitoring module and the ground carbon content monitoring module. By using the scheme, the requirement for the data processing capability of the air carbon content monitoring module and the ground carbon content monitoring module can be reduced, for example, the data processing center is arranged as a cloud server, and the air carbon content monitoring module and the ground carbon content monitoring module are arranged as equipment terminals, which facilitates the implementation of the scheme in various regions.

[0046] The scheme also discloses an air-ground integrated carbon emission monitoring device based on a UAV, which is used to realize the monitoring method in any one of the above.

[0047] The monitoring device comprises:

[0048] A monitoring planning unit is configured to set an air flight route for a designated to-be-measured region and obtain a preset route or a route generated under a preset condition.

[0049] A cruise monitoring unit comprises the air carbon content monitoring module and the ground carbon content monitoring module.

[0050] A data processing unit is in wireless communication with the air carbon content monitoring module and the ground carbon content monitoring module, configured to perform an abnormality judgment on the carbon content monitoring result obtained by the air carbon content monitoring module, and send abnormal information to the ground carbon content monitoring module after judging that the monitoring result data is abnormal.

[0051] Compared with the prior art, the present application has the following beneficial effects:

[0052] In the present scheme, the first aircraft can maintain a high cruise speed to quickly complete the overall monitoring of the to-be-measured region and quickly change the monitoring position, which can effectively guarantee the carbon emission monitoring strength and the regional monitoring efficiency. After obtaining the abnormal carbon emission monitoring structure, the ground carbon content monitoring module responds to track the carbon emission source and obtain the specific carbon emission situation, thereby guaranteeing the carbon emission source tracking efficiency and improving the monitoring data acquisition accuracy. BRIEF DESCRIPTION OF DRAWINGS

[0053] The accompanying drawings, which are included to provide a further understanding of the embodiments of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings:

[0054] Figure 1 A flowchart of a specific embodiment of the unmanned aerial vehicle-based ground-air integrated carbon emission monitoring method according to the present application. DETAILED DESCRIPTION

[0055] To make the objectives, technical solutions and advantages of the present application clearer, further detailed description will be given below in combination with embodiments and drawings, and the illustrative embodiments of the present application and their descriptions are only used to explain the present application and do not limit the present application.

[0056] Embodiment 1:

[0057] As shown in Figure 1 The present embodiment provides an unmanned aerial vehicle-based ground-air integrated carbon emission monitoring method, which comprises: in a designated to-be-measured region, using an air carbon content monitoring module to complete air carbon content monitoring;

[0058] The air carbon content monitoring module includes a first aircraft and a first carbon emission detection sensor assembly. The first aircraft carries the first carbon emission detection sensor assembly to fly along a preset route or a route generated under a preset condition. The first carbon emission detection sensor assembly monitors the carbon content of a passing area during flight. The monitoring result of the air carbon content monitoring module is subjected to carbon content anomaly judgment. After judging that the monitoring result data is abnormal, abnormal information is sent to the ground carbon content monitoring module. The ground carbon content monitoring module is guided according to the abnormal information, carries a second carbon emission detection sensor assembly to track the carbon emission source that generates the abnormal result, and obtains carbon emission tracking data.

[0059] The ground carbon content monitoring module includes a ground vehicle and / or a second aircraft. The ground vehicle and the second aircraft are used to carry the second carbon emission detection sensor assembly to move. The carbon content data collection height of the first carbon emission detection sensor assembly is higher than that of the second carbon emission detection sensor assembly.

[0060] In the scheme, the device for implementing the monitoring method includes an air carbon content monitoring module and a ground carbon content monitoring module. The air carbon content monitoring module includes a first carbon emission detection sensor assembly carried by a first aircraft. The first aircraft flies along a preset route or a route generated under a preset condition to monitor the carbon content of a passing area. When the monitoring result is determined to be abnormal, abnormal information is sent to the ground carbon content monitoring module. The ground carbon content monitoring module is guided according to the abnormal information, carries a second carbon emission detection sensor assembly to track the carbon emission source that generates the abnormal result, and obtains carbon emission tracking data. It can be understood that the carbon emission source is the carbon emission source that causes the abnormal monitoring result. Further, the carbon content data collection height of the first carbon emission detection sensor assembly is higher than that of the second carbon emission detection sensor assembly. That is, the air carbon content monitoring module is used to monitor air carbon content data, and the ground carbon content monitoring module is used to perform ground carbon content monitoring when necessary to achieve the purpose of carbon emission tracking. It is easy to understand that air and ground are relative. Those skilled in the art can reasonably configure the flight height of the first aircraft and the flight height of the second aircraft according to the meteorological conditions of the specific application occasion.

[0061] Unlike the prior art, in the scheme, the first aircraft can maintain a high cruising speed to quickly complete overall monitoring of the to-be-measured area and quickly change the monitoring position, which can effectively guarantee the carbon emission monitoring strength and the regional monitoring efficiency. After obtaining the abnormal carbon emission monitoring structure, the ground carbon content monitoring module responds to track the carbon emission source and obtain the specific carbon emission situation, thereby guaranteeing the carbon emission source tracking efficiency and improving the monitoring data collection accuracy.

[0062] In a specific application, considering the influence of the ground monitoring terrain and the carbon emission position on the data collection of the second carbon emission detection sensor assembly, in a specific application, the to-be-measured region is divided into a plurality of subintervals, each subinterval is configured with a ground carbon content monitoring module located in the subinterval, when it is determined by the monitoring data of the aerial carbon content monitoring module that there is a carbon emission source to be tracked in a certain subinterval, the ground carbon content monitoring module in the subinterval works to complete the tracking of the carbon emission source. When it is determined by the monitoring data of the aerial carbon content monitoring module and the carbon emission diffusion model that there are a plurality of carbon emission sources to be tracked in a certain subinterval, the ground carbon content monitoring modules of other subintervals are dispatched to assist in completing the tracking of the carbon emission source for the subinterval, and the other subintervals are preferably subintervals that are confirmed by the monitoring data of the aerial carbon content monitoring module to have no carbon emission source to be tracked. Further, in order to ensure the accuracy of the monitoring data and at the same time ensure the required monitoring efficiency and data collection accuracy, the ground carbon content monitoring module includes a ground vehicle and a second aircraft, the ground vehicle is used to carry personnel and the second aircraft, when the ground vehicle reaches the carbon emission source tracking position, the personnel operate the second aircraft to complete the targeted carbon emission source tracking according to the on-site situation, and in the case of needing to take processing measures, the on-site carbon emission situation is processed in the first time; the first aircraft and the second aircraft are both electric unmanned aerial vehicles, and the first aircraft is a fixed-wing unmanned aerial vehicle with high cruising speed, and the second aircraft is a multi-rotor unmanned aerial vehicle with flexible action and can hover in the air.

[0063] Embodiment 2:

[0064] This embodiment is further refined on the basis of embodiment 1:

[0065] The preset route is a flight route loaded in the flight controller of the first aircraft before the first aircraft flies;

[0066] The route generated under the preset condition is: after the first aircraft takes off, the flight route planned according to the dynamically adjusted monitoring area distribution. In the scheme, the preset route can be a flight route fixed in the flight controller of the first aircraft by manually setting according to the characteristics of the region by the personnel implementing carbon emission monitoring, or a flight route fixed in the flight controller of the first aircraft after summarizing the historical monitoring results. In specific implementation, when the flight route is fixed in the flight controller, a more preferred way is to load multiple flight routes in the flight controller: for example, after the carbon emission law of the to-be-measured region is mastered, in order to ensure the monitoring efficiency, the basis for determining the specific flight route is the time of the current inspection, which is used to realize the key monitoring of a specific region in a specific time period; other basis for determining the specific flight route can also be set by those skilled in the art, such as planning multiple flight routes covering the to-be-measured region and different from each other, and obtaining the specific flight route by selection during the monitoring task execution, so as to avoid the situation of artificially evading carbon emission monitoring. The preset route is used to guide the first aircraft to complete the whole flight according to the flight route in the flight controller. During the flight of the first aircraft, when tasks such as data collection at the position with the maximum carbon content, air flow boundary collection to form corresponding carbon content monitoring data are performed, the flight route needs to be adjusted, but after the completion of these tasks, the first aircraft returns to the set flight route to continue the flight task, which should also be understood as flying according to the preset route. The route generated under the preset condition is a dynamically adjusted route after the whole route of the route. For example, after the first aircraft takes off according to the initial route, imaging is performed on heat, water vapor, dust, etc. in the ground emission air flow, a suspected carbon emission air flow is obtained according to the imaging result, the route is dynamically changed according to the air flow position, the initial route is changed to a live route, and during the flight of the live route, the live route is further updated according to the imaging result. In this case, the first aircraft is equipped with a shooting device, which includes a natural light shooting device and an infrared shooting device. Further, the initial route is planned to include a takeoff route and multiple coordinate points. When the imaging cannot plan the live route or update the live route on the takeoff route and the live route, the first aircraft uses the coordinate points as the basis for route planning to plan the live route or update the live route during the flight to the coordinate points.

[0067] Embodiment 3:

[0068] This embodiment is further refined on the basis of embodiment 1:

[0069] The first aircraft equipped with the first carbon emission detection sensor assembly flies along the preset route and adjusts the flight route during the flight;

[0070] The method for adjusting the route is: after the first carbon emission detection sensor assembly monitors abnormal carbon content data, predicting the abnormal carbon content spatial range according to the carbon emission diffusion model, and correcting the flight path according to the abnormal carbon content spatial range and the planned next monitoring position.

[0071] The flight path is corrected as follows: during the movement to the planned next monitoring position, the movement path of the first carbon emission detection sensor assembly passes through the abnormal carbon content spatial range, and the carbon content data in the abnormal carbon content spatial range is collected during the movement. The above provides a scheme of flying according to the preset route and adjusting the specific route during the flight. As a person skilled in the art, it should be understood that the flight route is adjusted only when necessary, and the first aircraft returns to the preset route after processing the specific needs. This scheme aims to solve the following problems: after obtaining the abnormal carbon content spatial range predicted by the carbon emission diffusion model, the first aircraft passes through the abnormal carbon content spatial range to efficiently obtain more carbon content monitoring data, which can not only be used for mutual verification between data, but also be used for constructing more accurate carbon emission hotspot maps and more accurate carbon emission calculation. In specific implementation, considering the endurance of the air carbon content monitoring module, the carbon emission diffusion model construction and the carbon content abnormal spatial range prediction are completed by the remote control center on the ground. The air carbon content monitoring module and the remote control center communicate bidirectionally. The carbon emission diffusion model sends gas phase data, carbon content monitoring data, and coordinate data to the remote control center. The remote control center completes the carbon emission diffusion model construction and the carbon content abnormal spatial range prediction through these data, and then sends the coordinate data of the carbon content abnormal spatial range to the air carbon content monitoring module. When the first aircraft is a fixed-wing unmanned aerial vehicle, after monitoring the abnormal carbon content data, it flies around the current position according to the set circular flight path to wait for the data processing result of the remote control center.

[0072] Embodiment 4:

[0073] This embodiment is further refined based on Embodiment 1:

[0074] After the air carbon content monitoring module completes the first cruise monitoring of the to-be-measured area, the positions of the monitoring points during the movement of the first carbon emission detection sensor assembly and the carbon content data obtained by the monitoring points are associated with the map data to form carbon emission hotspot map data.

[0075] According to the obtained carbon emission hotspot map data, the carbon emission hotspot region is obtained on the map.

[0076] According to the position of the carbon emission hotspot region on the map, carbon emission tracking data is obtained.

[0077] According to the carbon emission tracking data, a carbon emission tracking route is obtained, and the air carbon content monitoring module tracks the carbon emission data of the delineated to-be-measured region according to the carbon emission tracking route. The scheme aims to provide a method for obtaining intuitive hotspot map data by using historical monitoring data and applying the monitoring data to map data, obtaining carbon emission hotspot regions according to carbon contents of positions on the hotspot map data and combining current weather data, planning a carbon emission tracking route according to position distribution of the carbon emission hotspot regions, tracking carbon emission data of the delineated to-be-measured region on the carbon emission tracking route when the air carbon content monitoring module performs a flight task again, and the carbon emission tracking data is a position of the carbon emission hotspot region in space. In this way, an efficient flight route of the air carbon content monitoring module can be planned, and the length of useless routes is reduced and the carbon emission monitoring efficiency of the to-be-measured region is improved. In specific application, a plurality of carbon emission tracking routes are planned according to a monitoring time range, each carbon emission tracking route is obtained by using monitoring historical data obtained in a same monitoring time range in advance, a matching carbon emission tracking route is selected according to a current time when the air carbon content monitoring module performs a current flight task, and thus a first aircraft flight route that is targeted according to a specific carbon emission rule of a monitoring region can be obtained. In addition, the first cruising monitoring can be a fine investigation of the to-be-measured region, and the to-be-measured region is tracked according to an investigation result, and the carbon emission tracking route is continuously adjusted and optimized according to continuously updated and enriched historical collection data in subsequent monitoring tasks.

[0078] Embodiment 5

[0079] This embodiment is further refined on the basis of Embodiment 4:

[0080] The method for obtaining the carbon emission tracking route is:

[0081] First, the spatial range distribution of each carbon emission hotspot region on the map is obtained.

[0082] Then, the position with the highest carbon content in each spatial range is obtained.

[0083] Then, the carbon emission tracking route is planned according to the position with the highest carbon content. The scheme aims to provide a method for planning a carbon emission tracking route by using the position with the highest carbon content, which is generally close to a carbon emission source or is a position commonly used by different carbon emission air flows. When position information of a carbon content abnormal data acquisition point is included in abnormal information, the method is beneficial to the success rate and efficiency of tracking a carbon emission source and is beneficial to the timeliness of on-site disposal.

[0084] Embodiment 6

[0085] This embodiment is further refined on the basis of Embodiment 1:

[0086] The method for judging carbon content anomaly based on the monitoring result of the air carbon content monitoring module is:

[0087] S1, obtaining carbon content monitoring data of the current position by the first carbon emission detection sensor assembly;

[0088] S2, comparing the carbon content monitoring data with the set carbon content data of the current position, when the comparison result is that the carbon content monitoring data is greater than or equal to the set carbon content data, S3 and S4 are executed;

[0089] S3, the first aircraft finds the boundary of the airflow forming the carbon content monitoring data according to the image index or the carbon content index, and the boundary is used to calculate the flow of the airflow;

[0090] S4, calculating the carbon emission amount in the airflow according to the carbon content detection data and the range determined by the boundary;

[0091] When the carbon emission amount exceeds the set threshold, it is determined that the carbon emission is abnormal, and the carbon content monitoring data result is determined as the carbon content anomaly result;

[0092] When the carbon emission amount is less than or equal to the set threshold, it is determined that the carbon emission is normal, and the carbon content monitoring data result is determined as the carbon content normal result. The present scheme aims to solve the following problem: in the carbon emission process, under the gas phase characteristics, the carbon emission airflow will be distributed on a path that is stable at first and then spread along the path. When the carbon content data of the current position detected by the first carbon emission detection sensor assembly is higher than the normal carbon content at the height, it is determined that the position is in the carbon emission airflow. According to the image characteristics of the carbon emission airflow or the carbon content index of different positions in space, the boundary of the airflow forming the carbon content monitoring data can be obtained according to the set conditions. According to the size of the range determined by the boundary and the monitoring value, the carbon emission amount of the airflow is obtained. According to the carbon emission amount, it can be accurately determined whether it is normal carbon emission. In specific implementation, in order to facilitate obtaining the carbon emission amount by the boundary, when the comparison result is that the carbon content monitoring data is greater than or equal to the set carbon content data, the position coordinates of the monitoring data are acquired, the wind direction of the position coordinates is determined according to the meteorological characteristics, and the airflow boundary in each direction is obtained on the plane including the coordinate position and perpendicular to the wind direction.

[0093] Embodiment 7:

[0094] The present embodiment is further refined based on embodiment 1:

[0095] The method for obtaining carbon emission tracking data by the ground carbon content monitoring module is:

[0096] The abnormal information is used to obtain a location for carbon emission tracking;

[0097] The ground carbon content monitoring module includes a ground vehicle and a second aircraft. According to the map data, it is determined whether the location is at a position reachable by the ground vehicle. If yes, the ground vehicle carries the second aircraft to an area where the location is located, and the second carbon emission detection sensor assembly carried by the second aircraft is used to complete carbon emission tracking data collection. If not, the ground vehicle carries the second aircraft to an area close to the location, and the second carbon emission detection sensor assembly carried by the second aircraft is used to complete carbon emission tracking data collection.

[0098] The area close to the location is that, after the ground vehicle stops, the location for carbon emission tracking is within the cruising range of the second aircraft.

[0099] The ground vehicle personnel perform on-site image collection and on-site processing according to the decision at the location. In the specific implementation of this scheme, the map data is used to navigate the ground vehicle driving to the area where the location is located or the closest position to the area where the location is located, and then the second aircraft carried by the ground vehicle is released to complete carbon emission source tracking. Decision information is obtained according to the carbon emission tracking data, and the vehicle personnel perform carbon emission disposal according to the decision information.

[0100] Embodiment 8:

[0101] This embodiment is further refined on the basis of Embodiment 1:

[0102] The number of the air carbon content monitoring modules is one, and the number of the ground carbon content monitoring modules is multiple.

[0103] After determining that the monitoring result data is abnormal, different ground carbon content monitoring modules perform carbon emission tracking data acquisition tasks at different locations. This scheme is a technical scheme that uses multiple ground carbon content monitoring modules to cooperate with the air carbon content monitoring module to further ensure the efficiency of carbon emission source tracking, based on the characteristics of the air carbon content monitoring module having strong maneuverability and high monitoring efficiency.

[0104] Embodiment 9:

[0105] This embodiment is further refined on the basis of Embodiment 1:

[0106] The preset route or the route generated under the preset condition is obtained by the data processing center: the air carbon content monitoring module obtains the preset route or the route generated under the preset condition from the data processing center through wireless communication.

[0107] The carbon content abnormality judgment on the monitoring result of the air carbon content monitoring module is achieved by the data processing center: after the first carbon emission detection sensor assembly obtains the carbon content of the passing area, the monitoring result is sent to the data processing center through wireless communication, the data processing center processes the monitoring result and completes the carbon content abnormality judgment;

[0108] The ground carbon content monitoring module obtains the abnormal information by the data processing center. The scheme is a technical scheme in which a processing process with high requirement on data processing capability is arranged in the data processing center, and the data processing and the air carbon content monitoring module and the ground carbon content monitoring module all complete data transmission through wireless communication. The scheme can reduce the requirement on the data processing capability of the air carbon content monitoring module and the ground carbon content monitoring module, for example, the data processing center is arranged as a cloud server, and the air carbon content monitoring module and the ground carbon content monitoring module are both device terminals, so that the scheme is convenient for implementation in various regions.

[0109] Embodiment 10:

[0110] The embodiment provides an air-ground integrated carbon emission monitoring device based on a UAV on the basis of the embodiment 1, and the device is used for implementing the monitoring method in the embodiment 1.

[0111] The monitoring device comprises:

[0112] The monitoring planning unit is used for setting an air flight route for the delimited to-be-measured area, and obtaining a route generated under the preset route or preset condition;

[0113] The cruise monitoring unit comprises the air carbon content monitoring module and the ground carbon content monitoring module.

[0114] The data processing unit is in wireless communication with the air carbon content monitoring module and the ground carbon content monitoring module, is used for performing abnormality judgment on the carbon content monitoring result obtained by the air carbon content monitoring module, and sends abnormal information to the ground carbon content monitoring module after judging that the monitoring result data is abnormal.

[0115] Embodiment 11:

[0116] The embodiment provides a specific implementation scheme:

[0117] The air-ground integrated carbon emission monitoring method based on a UAV comprises the following steps which are sequentially performed:

[0118] According to the preset condition, the air carbon content monitoring module is used for cruising and monitoring the to-be-measured area, and monitoring data is generated;

[0119] The monitoring data is acquired and is processed for correction;

[0120] According to the corrected monitoring data, the to-be-measured region is cruise monitored and adjusted according to preset conditions;

[0121] In combination with the corrected monitoring data and the cruise route, and the map data, carbon emission hotspot map data is generated;

[0122] According to the carbon emission hotspot map data, a ground carbon content monitoring module is used to track the emission hotspot region, and carbon emission tracking data is generated;

[0123] According to the carbon emission tracking data, decision information is output.

[0124] Further solutions of the above steps are as follows:

[0125] The to-be-measured region is demarcated and cruise monitored: according to preset requirements and routes, air and environmental indicators of the to-be-measured region are cruise monitored, the air indicators include carbon content detection data, the environmental indicators include gas phase data, and the monitoring data is generated accordingly;

[0126] Data correction processing is performed: the monitoring data is obtained, and data correction processing is performed on the monitoring data according to preset conditions, to generate corrected monitoring data;

[0127] Abnormal conditions are judged and corresponding operations are made: the corrected monitoring data is obtained, and abnormal condition judgment is performed according to preset conditions; when the monitoring data is judged to be abnormal, warning information is output and the next monitoring position is predicted according to preset conditions, then the first aircraft continues to move in the direction of the next monitoring position and monitor carbon content and environmental indicators, and corresponding monitoring data is generated, and correction and abnormal condition judgment are performed;

[0128] The map data is associated and visualized: the map data is obtained, the cruise route / data collection points on the cruise route, the corrected monitoring data are associated with the map data, and the corrected monitoring data are visualized and color rendered according to preset conditions, and the spatial range identification result of the carbon emission hotspot is generated on the map data;

[0129] The spatial range identification result is monitored and data is collected: the spatial range identification result of the emission hotspot is obtained, an air carbon content monitoring module is used, air cruise is performed on the emission hotspot region in the spatial range identification result according to preset conditions, carbon content and environmental indicators are monitored, and according to the carbon content monitoring result, the first aircraft is guided to gradually approach the position with the highest carbon content, while the ground carbon content monitoring module is guided to perform ground monitoring data collection on the corresponding ground position, to generate carbon emission tracking data;

[0130] Decision information is output: according to the carbon emission tracking data, decision information is output according to preset conditions;

[0131] Human execution of decisions.

[0132] Wherein, the further scheme of the above steps is:

[0133] The monitoring data includes carbon content data, meteorological data, coordinate data, collection time, cruising speed data, and in the parallel scheme, the gas phase data can be from other sources, such as from meteorological satellites, meteorological monitoring stations;

[0134] The carbon content data includes at least one or more of carbon dioxide indicators and methane indicators; and the gas phase data includes wind speed, wind direction, and terrain, for assisting in completing the carbon emission diffusion model construction and air flow boundary capture;

[0135] The correction processing is: according to the type of monitoring data, selecting the correction mathematical model set in advance, then correcting the monitoring data with these models to ensure the accuracy and reliability of the data, and finally obtaining the monitoring data after correction processing;

[0136] The fixed-wing unmanned aerial vehicle is used as the first aircraft, and the multi-rotor unmanned aerial vehicle is used as the second aircraft, and according to the wind speed and wind direction in the environmental indicators, the flight mode of the unmanned aerial vehicle is set according to the preset conditions or the unmanned aerial vehicle completes the flight setting by itself, to correspond to the specific meteorological conditions in the task execution process, to realize continuous cruising, fixed-point staying, and targeted adjustment of unmanned aerial vehicle flight parameters such as speed, route, and flight height;

[0137] When the cruising monitoring device is a ground vehicle, according to the terrain and environmental factors in the environmental indicators, the driving route and speed of the ground vehicle are adjusted according to the preset conditions;

[0138] The map data is an electronic map or a real scene map, and a two-dimensional or three-dimensional carbon emission distribution map is drawn combined with the carbon content information in the monitoring data;

[0139] The carbon emission distribution map is used to obtain the carbon emission hotspot identification result in the spatial range, and the aerial carbon content monitoring module uses the identification result for subsequent flight route planning, and the ground carbon content monitoring module uses the identification result to complete carbon emission source tracking. The method for the second aircraft to use the carbon emission hotspot identification result is: surrounding the hotspot area within a certain distance to obtain information about carbon content indicators and environmental indicators, and then moving to a higher space and expanding the ground investigation or obtaining more information. In the implementation process, the ground vehicle can be guided to the carbon emission hotspot area monitored by the first aircraft according to the actual road conditions, so as to facilitate personnel to timely execute decisions.

[0140] Further, in order to improve the efficiency of subsequent carbon emission monitoring and the accuracy of monitoring data by using the trained model, the historical monitoring results are used to train the trained model to improve the prediction accuracy of the model, the trained model is used to predict the change of carbon emission in the area, and the carbon emission hotspot icon is used to mark the carbon emission situation of the coverage area through intuitive display, the latitude and longitude information is combined to lock the position of the abnormal emission source, so as to generate the carbon emission tracking data for the air carbon content monitoring module and / or the ground carbon content monitoring module.

[0141] The above specific embodiments further illustrate the purposes, technical solutions and beneficial effects of the present application. It should be understood that the above description is only a specific embodiment of the present application and is not used to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A ground-to-air integrated carbon emissions monitoring method based on drones, comprising: utilizing an aerial carbon content monitoring module to monitor airborne carbon content within a designated area to be monitored; in, The aerial carbon content monitoring module includes a first aircraft and a first carbon emission detection sensor assembly. The first aircraft carries the first carbon emission detection sensor assembly and flies along a preset route or a route generated under preset conditions. The first carbon emission detection sensor assembly monitors the carbon content of the area passed through during the flight. The module is characterized in that the monitoring results of the aerial carbon content monitoring module are judged to have abnormal carbon content. After the monitoring result data is judged to be abnormal, the abnormal information is sent to the ground carbon content monitoring module. The ground carbon content monitoring module is guided by the abnormal information and carries the second carbon emission detection sensor assembly to track the carbon emission source that produces the abnormal result and obtain carbon emission tracking data. The ground carbon content monitoring module includes a ground vehicle and a second aircraft. The ground vehicle is used to carry personnel and the second aircraft. When the ground vehicle arrives at the carbon emission source tracking location, the personnel operate the second aircraft to complete targeted carbon emission source tracking based on the on-site situation. If treatment measures are required, the on-site carbon emission situation is handled immediately. The ground vehicle and the second aircraft are both used to carry the second carbon emission detection sensor assembly for movement. The carbon content data collection altitude of the first carbon emission detection sensor assembly is higher than the carbon content data collection altitude of the second carbon emission detection sensor assembly. After the aerial carbon content monitoring module completes the first patrol monitoring of the area to be tested, the position of each monitoring point during the movement of the first carbon emission detection sensor component and the carbon content data obtained at each monitoring point are associated with the map data to form carbon emission heat map data; Obtain carbon emission hotspot areas on the map based on the obtained carbon emission hotspot map data; Obtain carbon emission tracking data based on the location of carbon emission hotspots on the map; A carbon emission tracking route is obtained according to the carbon emission tracking data, and an aerial carbon content monitoring module tracks carbon emission data for a designated area to be measured according to the carbon emission tracking route.

2. The ground-to-air integrated carbon emission monitoring method based on drone according to claim 1 is characterized in that: The preset route is: the flight route loaded into the flight controller of the first aircraft before the first aircraft flies; The route generated under the preset conditions is: a route planned according to the dynamically adjusted monitoring area distribution after the first aircraft takes off.

3. The ground-to-air integrated carbon emission monitoring method based on drone according to claim 1 is characterized in that: The first aircraft carries a first carbon emission detection sensor assembly and flies along a preset route and adjusts the flight route during the flight; The route adjustment method includes: after the first carbon emission detection sensor component detects abnormal carbon content data, predicting the abnormal carbon content spatial range based on the carbon emission diffusion model, and correcting the route based on the abnormal carbon content spatial range and the planned next monitoring location; The route is corrected as follows: in the process of moving to the planned next monitoring position, the moving path of the first carbon emission detection sensor assembly passes through the carbon content abnormal spatial range, and collects carbon content data in the carbon content abnormal spatial range during the movement.

4. The ground-to-air integrated carbon emission monitoring method based on drone according to claim 1 is characterized in that: The method to obtain carbon emission tracking route is: First, obtain the spatial distribution of each carbon emission hotspot area on the map; Then, the position with the highest carbon content in each spatial range is obtained; Then, a carbon emission tracking route is planned based on the locations with the highest carbon content.

5. The ground-to-air integrated carbon emission monitoring method based on drone according to claim 1 is characterized in that: The method for judging abnormal carbon content based on the monitoring results of the air carbon content monitoring module is as follows: S1. Carbon content monitoring data at the current location obtained by the first carbon emission detection sensor assembly; S2. Compare the carbon content monitoring data with the set carbon content data at the current location. When the comparison result shows that the carbon content monitoring data is greater than or equal to the set carbon content data, execute S3 and S4; S3. The first aircraft searches for a boundary of the airflow forming the carbon content monitoring data based on the image index or the carbon content index, and the boundary is used to calculate the flow rate of the airflow; S4. Calculating the carbon emissions in the airflow based on the carbon content detection data and the area range determined by the boundary; When the carbon emissions exceed the set threshold, it is determined that the carbon emissions are abnormal, and the carbon content monitoring data result is determined as a carbon content abnormal result; When the carbon emission amount is less than or equal to the set threshold, it is determined that the carbon emission is normal, and the carbon content monitoring data result is determined to be a normal carbon content result.

6. The ground-air integrated carbon emission monitoring method based on drone according to claim 1 is characterized in that: The method for the ground carbon content monitoring module to obtain carbon emission tracking data is as follows: Obtaining a location for carbon emission tracking through the abnormal information; The ground carbon content monitoring module includes a ground vehicle and a second aircraft. Based on map data, it is determined whether the location is within the reach of the ground vehicle. If so, the ground vehicle carries the second aircraft to the area where the location is located, and the second aircraft carries a second carbon emission detection sensor assembly to complete carbon emission tracking data collection. If not, the ground vehicle carries a second aircraft to an area close to the location, and uses the second aircraft carrying a second carbon emission detection sensor assembly to complete carbon emission tracking data collection; The area close to the location is: after the ground vehicle stops, the location where carbon emission tracking is performed is within the cruising range of the second aircraft; The crew of the ground vehicle collects on-site images of the location and performs on-site processing based on the decision.

7. The ground-air integrated carbon emission monitoring method based on drone according to claim 1 is characterized in that: The number of the aerial carbon content monitoring module is one, and the number of the ground carbon content monitoring modules is multiple; After determining that the monitoring result data is abnormal, different ground carbon content monitoring modules perform carbon emission tracking data acquisition tasks at different locations.

8. The ground-to-air integrated carbon emission monitoring method based on drone according to claim 1 is characterized in that: The preset route or the route generated along the preset conditions is obtained through the data processing center: the aerial carbon content monitoring module obtains the preset route or the route generated along the preset conditions from the data processing center through wireless communication; The data processing center determines if the airborne carbon content monitoring module is abnormal. After obtaining the carbon content of the area it passes through, the first carbon emission detection sensor component sends the monitoring results to the data processing center via wireless communication. The data processing center processes the monitoring results and determines if the carbon content is abnormal. The ground carbon content monitoring module obtains abnormal information from the data processing center.

9. The ground-to-air integrated carbon emission monitoring device based on drones is characterized by: The device is used to implement the monitoring method according to any one of claims 1 to 8; Wherein, the monitoring device includes: Monitoring planning unit: used to set an aerial flight route for the designated area to be measured, and obtain the preset route or the route generated under preset conditions; Cruise monitoring unit: including the air carbon content monitoring module and the ground carbon content monitoring module; Data processing unit: wirelessly communicates with both the aerial carbon content monitoring module and the ground carbon content monitoring module, and is used to determine abnormalities in the carbon content monitoring results obtained by the aerial carbon content monitoring module. After determining that the monitoring result data is abnormal, the abnormal information is sent to the ground carbon content monitoring module.

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